EP2669513B1 - Procédé d'amortissement des oscillations de torsion dans un composant d'une transmission - Google Patents

Procédé d'amortissement des oscillations de torsion dans un composant d'une transmission Download PDF

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Publication number
EP2669513B1
EP2669513B1 EP13002169.4A EP13002169A EP2669513B1 EP 2669513 B1 EP2669513 B1 EP 2669513B1 EP 13002169 A EP13002169 A EP 13002169A EP 2669513 B1 EP2669513 B1 EP 2669513B1
Authority
EP
European Patent Office
Prior art keywords
rotational speed
drive train
generator
acceleration
output shaft
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Not-in-force
Application number
EP13002169.4A
Other languages
German (de)
English (en)
Other versions
EP2669513A2 (fr
EP2669513A3 (fr
Inventor
Andreas Vath
Sebastian Grimm
Christian Freier
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
ZF Friedrichshafen AG
Original Assignee
ZF Friedrichshafen AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by ZF Friedrichshafen AG filed Critical ZF Friedrichshafen AG
Publication of EP2669513A2 publication Critical patent/EP2669513A2/fr
Publication of EP2669513A3 publication Critical patent/EP2669513A3/fr
Application granted granted Critical
Publication of EP2669513B1 publication Critical patent/EP2669513B1/fr
Not-in-force legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P9/00—Arrangements for controlling electric generators for the purpose of obtaining a desired output
    • H02P9/10—Control effected upon generator excitation circuit to reduce harmful effects of overloads or transients, e.g. sudden application of load, sudden removal of load, sudden change of load
    • H02P9/105—Control effected upon generator excitation circuit to reduce harmful effects of overloads or transients, e.g. sudden application of load, sudden removal of load, sudden change of load for increasing the stability
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D7/00—Controlling wind motors 
    • F03D7/02—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor
    • F03D7/0296—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor to prevent, counteract or reduce noise emissions
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H57/028—Gearboxes; Mounting gearing therein characterised by means for reducing vibration or noise
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D15/00—Transmission of mechanical power
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D17/00—Monitoring or testing of wind motors, e.g. diagnostics
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
    • F16F15/10—Suppression of vibrations in rotating systems by making use of members moving with the system
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D19/00—Control of mechanical oscillations, e.g. of amplitude, of frequency, of phase
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2260/00—Function
    • F05B2260/96—Preventing, counteracting or reducing vibration or noise
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/70—Wind energy
    • Y02E10/72—Wind turbines with rotation axis in wind direction

Definitions

  • the present invention relates to a method for damping torsional vibrations in a drive train component, in particular a power generation plant, and a computing unit for its implementation.
  • Drive trains consisting of components such as gears, couplings and connecting elements (shafts), are important components u.a. various electrical power generation plants, such as
  • the drive train fulfills the task of producing a mechanical connection between a drive (for example a rotor of a wind energy plant) and an output (for example a corresponding generator) via which energy is transmitted by a rotational movement.
  • Powertrain components such as transmissions, are used to translate the speed and torque applied to the drive to values that correspond to the work area of the generator. If required, couplings are used for a separation between input and output, and shafts establish the mechanical connection between the components involved.
  • Other components such as mechanical brakes or the like, can be integrated in the drive train.
  • the components involved can not be made arbitrarily rigid, but have a finite rigidity, they can be excited to natural oscillations.
  • Such an excitation can for example by a non-constant input power (in wind turbines for example, by gusts of wind or wind turbulence), by external disturbances or by proper movements of other system components.
  • vibrations of other origin can result in vibrations in the drive train, in a wind turbine, for example, tower vibrations or vibrations due to the meshing of a transmission.
  • Vibrations have a detrimental effect on the life of the components involved, in particular of the transmission from.
  • Continuous threshold loads increase the wear of the affected components and lead to shorter replacement intervals, which means a financial and technical burden for the plant and grid operator and reduces the system yield.
  • this aspect is playing an increasingly important role since the replacement of damaged components there is made even more difficult. The object, therefore, is to reduce these vibrations in order to increase the service life of the components.
  • the generator may be, for example, a double-fed asynchronous generator, which is connected directly to the stator on the stator side and supplied by the rotor via a DC intermediate circuit, whereby the rotor can be impressed with voltages and currents of different frequency and amplitude.
  • Synchronous generators which are connected to the mains via converters with a DC intermediate circuit and are accordingly adjustable, are used in the prior art. By means of said positioning possibilities, the generator can be given a moment which is adapted to the damage-causing vibrations, whereby it reduces these and correspondingly dampens the torsion moment applied in the drive train.
  • the speed difference between the input shaft and the output shaft of the drive train component, in particular a transmission is controlled to a desired value, in particular to zero (at a gear ratio of 1 or when normalizing the measured speeds with the gear ratio) or to the gear ratio corresponding value of the transmission. It is expediently formed a control loop with the speed difference as a controlled variable and an additive load value for the output-side load as a control variable.
  • the speed difference can be measured very easily, which develops special advantages.
  • vibrations are detected across the entire powertrain component, effectively dampening them by interfering with the load.
  • the speed difference is a proportional to the time derivative of the torsional magnitude, which is why an additional differentiation of the measurement signal for reasons of faster controller response (as in the prior art spread) is not required.
  • the disadvantage of a subsequent differentiation of the measurement signal lies in the inevitable amplification of measurement noise, which has a negative effect on the quality of the generated control signal and thus on the control quality.
  • a suitable controller for the invention can be advantageously realized by a simple proportional controller ("P-controller").
  • P-controller a simple proportional controller
  • additional speed-adaptive and non-adaptive filters are used, which lead to a significant improvement in the control quality.
  • stimulating tooth engagement frequencies can be filtered out of the tooth contact in the drive train component, which would otherwise also be amplified, which would lead to high-frequency torque curves on the generator and thus to high-frequency fluctuations of a power generated by the generator.
  • Advantageous filters are in particular notch filters, ie narrow-band notch filters whose cut-off frequency is adapted to a multiple of a measured speed in the drive train becomes. The respective multiple is expediently determined according to the tooth meshing frequencies occurring in the drive train component, eg gearbox.
  • an acceleration difference can also be measured and the speed difference can be determined by integration. It makes sense to attach at least two sensors at the respective measuring location, for example on the input shaft side of the main shaft of the wind power plant, in order to compensate for interference signals, such as gravity or bending vibrations, thus rendering them invisible to the control system.
  • the speed on the input side and / or the output side is generally known.
  • On the drive side for example in the case of the rotor of a variable-speed wind turbine, it is picked up by speed sensors and transferred to the system controller, which controls or regulates the operation of the system on the basis of this value.
  • the speed can be derived from electrical variables in the generator, unless it is also determined via a speed sensor. In some systems, it is customary to determine the speed only on the generator side and feed it into the system control or regulation.
  • rotor is used to designate, for example, the part of a power generation plant that is acted upon and driven by water or wind.
  • the mobile part of the generator is referred to by the term "runner”.
  • the generator speed can be used as the speed of the output shaft, which can be measured via an already present rotary encoder on the generator.
  • the advantage here is in the subsequent very simple design of the controller used, since it is then a so-called collocated system, ie the location of the measurement and the control action are identical. This always produces a stable closed-loop control with proportional measurement signal feedback and neglecting time delays between measurement and manipulated variable action.
  • the speed of the output shaft can be determined directly by additional sensors. It should be noted that then often present in power generation plants clutch and brake disc between the output and generator shaft can have a significant impact on the system dynamics. They should therefore be taken into account in the controller design, if they cause additional natural frequencies in the range of the controller bandwidth. Due to the different locations of the measurement signal and the control signal, this is referred to as a non-collocated system which no longer guarantees stable control behavior for simple controllers. In these cases, it is advantageous to use model-based controllers, since such can take these effects into account.
  • the mathematical model required for this can be obtained either on the basis of a theoretical derivation, a system identification by means of measurement signals or from multi-body simulations. The combination of such modeling methods is possible.
  • the alternative is to use existing sensors to close on accelerations or torsional moments on the rotor side or gearbox input side.
  • accelerations can be used, for example, acceleration sensors in axle cabinets or control devices of pitch systems in the rotor hub.
  • the advantage here is that such systems are usually integrated for security reasons and therefore already redundant, so available in multiple versions. From the determined rotor acceleration can then be closed by integration back to the rotor speed.
  • An arithmetic unit for example a control unit of a power generation plant, is, in particular programmatically, configured to carry out a method according to the invention.
  • the arithmetic unit is a device for measuring signal processing and Controller signal generation in particular configured to adjust a load in a drive train as a function of a difference between a speed of the input shaft and a speed of the output shaft, in particular by appropriate control of an electric generator.
  • a transmission equipped with acceleration, rotational speed and / or torsion torque sensors is proposed which, together with such a computing unit, intelligently adapts itself to the environment, for example the wind power plant, and control signals for the generator torque and also provides further possible actuators in the wind turbine to reduce vibrations that can reduce the life of the transmission.
  • a rotor 109 and a generator 102 of a wind turbine 100, 200 which are mechanically connected to each other by a drive train consisting of a rotor output shaft 110, a gear 101, a shaft 111 with coupling.
  • the rotor is mounted on a rotor-side end of the drive train, the generator on a generator-side end.
  • the generator 102 is equipped with a rotational speed sensor 108 (rotary encoder) which detects the generator rotational speed 103 and transmits it to a computing unit 105, which is set up for the control of the wind turbine and is therefore referred to as "plant control".
  • the system controller 105 is set up to influence the power decrease of the generator 102 via actuating signals 104, which in particular drive a power converter and / or a rotor of the generator accordingly.
  • a second sensor 107 On the input side of the transmission, a first sensor 106 and the output side, a second sensor 107 is arranged, each of which detect a measurement signal 113, 114 (in particular a series of measured values) and transmitted to a damping control 112, in which an operation 115 for the generator 102 and determines the system controller 105 is transmitted.
  • an additive actuating torque 115 for the generator is calculated from the detected measuring signals 113 and 114 in the damping controller 112 as an intervention and transmitted to the system controller 105.
  • This superimposes a set load torque of the generator with the additive setting torque.
  • the desired load torque of the generator can originate, for example, from a power and / or speed control, which can be implemented in wind turbines.
  • the damping control 112 may be implemented as part of the plant controller 105 in one embodiment.
  • the measurement signals 113 and 114 are preferably speed signals, but may also be acceleration signals or torsional moment signals.
  • the damping controller 112 is configured to determine, taking into account a gear ratio of the transmission 101, a rotational speed difference between the rotational speed 113 of the rotor output shaft 110 as the input shaft of the transmission 101 and the rotational speed 114 of the shaft 111 as the output shaft of the transmission 101. "Taking into account one The damping controller 112 is further configured to control this speed difference to a setpoint that is preferably zero, namely, it can be assumed that torsional vibrations through the transmission are minimal, if no speed deviation In this way, torsional vibration may be damped via a powertrain component, such as the transmission 12. In this case, the design of the damping controller preferably takes place according to the approach for non-collocated systems and has, for example, a model-based controller Also, a measured torsional moment difference or a single measured torsional moment can be controlled to zero.
  • FIG. 2 a wind turbine 200 is shown in which no sensor is present on the shaft 111. Instead, the generator speed 103 is supplied to the damping controller 212.
  • the damping controller 212 is now set up to determine a speed difference between the rotational speed 113 of the rotor output shaft 110 as the input shaft of the transmission 101 and the rotational speed 103 of the generator 102, so to speak as the output shaft of the transmission 101, taking into account the transmission ratios involved.
  • the damping controller 212 is further configured to control this speed difference to a setpoint, which is preferably zero. It can be assumed that torsional vibrations between the transmission input shaft and the generator shaft are minimal if there is no speed deviation. In this way, a torsional vibration via a drive train component, as here the transmission together with the generator shaft, are damped.
  • the design of the damping controller in this case is preferably in accordance with the approach for collocated systems and has, for example, a P-controller.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Power Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Acoustics & Sound (AREA)
  • Wind Motors (AREA)
  • Control Of Eletrric Generators (AREA)
  • Hydraulic Clutches, Magnetic Clutches, Fluid Clutches, And Fluid Joints (AREA)

Claims (11)

  1. Procédé d'amortissement d'oscillations de torsion dans un composant de chaîne cinématique (101), en particulier dans une transmission, en particulier dans une installation de production d'énergie (100, 200), dans lequel le composant de transmission (101) comporte un arbre d'entrée (110) et un arbre de sortie (111), dans lequel une charge côté sortie (102) dans la chaîne cinématique est réglée en fonction d'une différence entre une vitesse de rotation (113) de l'arbre d'entrée (110) et une vitesse de rotation (114, 103) de l'arbre de sortie (111),
    caractérisé en ce que la différence de vitesse de rotation est régulée en ajustant la charge côté sortie (102) à une valeur de consigne.
  2. Procédé selon la revendication 1, dans lequel la différence de vitesse de rotation est déterminée en tenant compte d'un rapport de transmission, dans lequel la valeur de consigne est égale à zéro.
  3. Procédé selon l'une des revendications précédentes, dans lequel la vitesse de rotation (113) de l'arbre d'entrée (110) et/ou la vitesse de rotation (114, 103) de l'arbre de sortie (111) est mesurée, en particulier au moyen de capteurs (106, 107, 180).
  4. Procédé selon l'une des revendications précédentes, dans lequel une accélération de l'arbre d'entrée (110) et/ou une accélération de l'arbre de sortie (111) est mesurée, en particulier au moyen de capteurs (106, 107, 180).
  5. Procédé selon la revendication 4, dans lequel l'accélération de l'arbre d'entrée (110) est mesurée au moyen d'au moins deux capteurs et/ou l'accélération de l'arbre de sortie (111) est mesurée au moyen d'au moins deux capteurs.
  6. Procédé selon l'une des revendications, dans lequel un filtre coupe-bande est utilisé, en particulier un filtre à encoche, dont la fréquence de coupure est réglée en fonction d'une vitesse de rotation mesurée dans la chaîne cinématique.
  7. Procédé selon l'une des revendications précédentes, dans lequel un couple de charge d'une génératrice est réglé en tant que charge côté sortie.
  8. Procédé selon la revendication 7, dans lequel un couple de réglage additif est réglé pour le couple de charge.
  9. Unité de calcul (112, 212, 105) conçue pour mettre en oeuvre un procédé selon l'une des revendications précédentes.
  10. Composant de chaîne cinématique (101) comportant un arbre d'entrée (110) et un arbre de sortie (111), un premier capteur (106) destiné à détecter une vitesse de rotation (113) ou une accélération de l'arbre d'entrée (110) et/ou un second capteur (107) destiné à détecter une vitesse de rotation (114, 103) ou une accélération de l'arbre de sortie (111), et une unité de calcul (112, 212, 105) selon la revendication 9.
  11. Installation de production d'énergie (100, 200), en particulier installation d'énergie éolienne, comportant une unité de calcul (112, 212, 105) selon la revendication 9 et/ou un composant de chaîne cinématique (101) selon la revendication 10.
EP13002169.4A 2012-05-29 2013-05-03 Procédé d'amortissement des oscillations de torsion dans un composant d'une transmission Not-in-force EP2669513B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102012010420A DE102012010420A1 (de) 2012-05-29 2012-05-29 Verfahren zur Dämpfung von Torsionsschwingungenin einer Antriebsstrangkomponente

Publications (3)

Publication Number Publication Date
EP2669513A2 EP2669513A2 (fr) 2013-12-04
EP2669513A3 EP2669513A3 (fr) 2015-01-21
EP2669513B1 true EP2669513B1 (fr) 2018-06-20

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Application Number Title Priority Date Filing Date
EP13002169.4A Not-in-force EP2669513B1 (fr) 2012-05-29 2013-05-03 Procédé d'amortissement des oscillations de torsion dans un composant d'une transmission

Country Status (7)

Country Link
US (1) US8860382B2 (fr)
EP (1) EP2669513B1 (fr)
KR (1) KR20130133679A (fr)
CN (1) CN103452773B (fr)
DE (1) DE102012010420A1 (fr)
DK (1) DK2669513T3 (fr)
ES (1) ES2685334T3 (fr)

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CN104329220B (zh) * 2014-09-03 2017-04-12 上海交通大学 用于抑制风电机组扭振的扭转载荷控制器及控制方法
GB201501135D0 (en) * 2015-01-23 2015-03-11 Rolls Royce Plc Method and system for damping torsional oscillations
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CN115217714B (zh) * 2022-02-22 2024-07-19 上海电力大学 一种基于转动惯量虚拟配置的风电轴系降载控制策略

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Also Published As

Publication number Publication date
US8860382B2 (en) 2014-10-14
DK2669513T3 (en) 2018-10-01
CN103452773B (zh) 2019-05-14
EP2669513A2 (fr) 2013-12-04
ES2685334T3 (es) 2018-10-08
DE102012010420A1 (de) 2013-12-05
CN103452773A (zh) 2013-12-18
EP2669513A3 (fr) 2015-01-21
US20130320935A1 (en) 2013-12-05
KR20130133679A (ko) 2013-12-09

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